talos_cartesio_config

Package of CartesI/O configurations and launch files to run Inverse Kinematics (IK) and Inverse Dynamics (ID) based on OpenSoT on TALOS robot from PAL Robotics.

The stack folder contains the files with the stacks for the IK and ID. These files can be modified to play with different tasks, constraints, solvers, and parameters.

Whole-Body Inverse Kinematics:

To run the IK just run on the terminal:

reset && mon launch talos_cartesio_config cartesio.launch

The interactive marker permits sending direct pose commands or way-points to the controlled end-effectors (to be enabled by right-clicking on the marker). To change the end-effector change the Update Topic field in the InteractiveMarker display or add a new interactive marker. The sliders permit to send desired joint positions to the postural task.

Whole-Body Inverse Dynamics:

To run the ID just run on the terminal:

reset && mon launch talos_cartesio_config cartesio.launch stack:=simple_id

Interactive markers and sliders work as in the IK case.

Pose script:

Through CarteSI/O Python API is possible to send way-points using a script to the OpenSoT defined tasks. An example is present in the python folder. To run it just run:

python cartesio_simple_poses.py

within the folder. The left arm will execute 4 waypoints starting from the actual pose. Notice that the same script will work both using the IK and the ID stack.

Whole-Body Inverse Dynamics using OpenSoT Python API:

Inside the python folder just run:

python wbid.py